Constraint.h File Reference

Declaration file of the Constraint class. More...

#include "ocra/optim/Variable.h"
#include "ocra/optim/Function.h"
#include "ocra/optim/FunctionInterfaceMapping.h"
#include <ocra/util/Macros.h>
#include <boost/static_assert.hpp>
#include <boost/type_traits/is_base_of.hpp>
#include "ocra/optim/LinearFunction.h"
#include "ocra/optim/BoundFunction.h"
#include "ocra/optim/IdentityFunction.h"
#include "ocra/optim/DiagonalLinearFunction.h"

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Classes
class	ocra::Constraint< T >
	Constraint class. More...
class	ocra::Constraint< Function >

Namespaces
	ocra
	Optimization-based Robot Controller namespace. a library of classes to write and solve optimization problems dedicated to the control of multi-body systems.

Typedefs
typedef Constraint< Function >	ocra::GenericConstraint
typedef Constraint< LinearFunction >	ocra::LinearConstraint
typedef Constraint< BoundFunction >	ocra::BoundConstraint
typedef Constraint< IdentityFunction >	ocra::IdentityConstraint
typedef Constraint< DiagonalLinearFunction >	ocra::DiagonalLinearConstraint

Enumerations
enum	ocra::eConstraintType {   ocra::CSTR_EQUAL_ZERO =0, ocra::CSTR_EQUAL_B, ocra::CSTR_LOWER_ZERO, ocra::CSTR_LOWER_U,   ocra::CSTR_GREATER_ZERO, ocra::CSTR_GREATER_L, ocra::CSTR_LOWER_AND_GREATER }

Detailed Description

Declaration file of the Constraint class.

Copyright (C) 2009 CEA/DRT/LIST/DTSI/SRCI Copyright (C) 2010 CEA/DRT/LIST/DIASI/LSI

Author

Escande Adrien

Date

09/04/24

File history:

• 10/06/10 Escande Adrien: mapping of Function Interface is deferred to functionInterfaceMapping, adding lower and upper bounds to inequality constraints.

Definition in file Constraint.h.